CN111051164A - Method and device for ascertaining actual values of a rail vehicle relating to braking for carrying out deceleration-regulated braking using a distributed sensor system - Google Patents
Method and device for ascertaining actual values of a rail vehicle relating to braking for carrying out deceleration-regulated braking using a distributed sensor system Download PDFInfo
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- CN111051164A CN111051164A CN201880056114.4A CN201880056114A CN111051164A CN 111051164 A CN111051164 A CN 111051164A CN 201880056114 A CN201880056114 A CN 201880056114A CN 111051164 A CN111051164 A CN 111051164A
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- Prior art keywords
- deceleration
- braking
- train
- longitudinal
- value
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/665—Electrical control in fluid-pressure brake systems the systems being specially adapted for transferring two or more command signals, e.g. railway systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
- B60T17/18—Safety devices; Monitoring
- B60T17/22—Devices for monitoring or checking brake systems; Signal devices
- B60T17/228—Devices for monitoring or checking brake systems; Signal devices for railway vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention relates to a method and a device for ascertaining actual values of a train set, in particular of a rail vehicle, comprising a plurality of cars (1a-1d), which are associated with braking, for carrying out deceleration-regulated braking of the train set, wherein at least a longitudinal deceleration (a) is usedL) The actual value is taken into account, whereby an adjustment value for compensating for the adjustment deviation is determined by a deceleration regulator (7) from a predetermined setpoint value of the desired braking deceleration, said adjustment value being used in a brake adjustment element (9) in such a way that the longitudinal deceleration (a) is equal to the longitudinal deceleration (a)L) Is positioned at the position of the train by a plurality of train-following groupsAt least two deceleration sensors (4a ', 4 b'; 4a-4d) in different cars (1a, 1d) for ascertaining a respective local longitudinal deceleration (a)La‑d) The longitudinal deceleration (a) associated with the entire train set is then calculated by means of a central measured value detection unit (6)L) As the actual value.
Description
Technical Field
The invention relates to a method and a device for ascertaining actual values of a train set (Zugverband) consisting of a plurality of cars, in particular of rail vehicles, which are associated with braking, for carrying out deceleration-regulated braking of the train set, wherein at least the longitudinal deceleration of the train set is taken into account as an actual value, whereby an adjustment value for compensating for a regulation deviation is ascertained by a deceleration regulator from a predetermined setpoint value of a desired braking deceleration, said adjustment value being used for one or more adjustment links of the brake.
Background
The field of application of the invention extends in particular to rail vehicle construction. The train set, which is usually formed from individual cars, must comply with the braking distances prescribed in traffic and stop, in particular, at the point to which it was signaled beforehand. Braking of the rail vehicle takes place according to precisely defined criteria and also according to deceleration characteristics, adherence to which is important to ensure economical and safe operation of the rail vehicle. In each braking of modern rail vehicles, different brake types are involved, for example friction brakes, electrodynamic brakes, magnetic track brakes or eddy current brakes. Each of these brakes has certain advantages, such as a speed or power range within which efficient and minimally abrasive braking is possible. In this case, each brake type has specific tolerances and inaccuracies in the implementation of the braking force, which leads to an undesired variation in the braking force achieved during the course of the braking process.
In this context, an accurate metering of the braking requires a feedback of the braking force actually applied, for example by informing the vehicle driver of the braking force via a display in the driver's cab or by supplying it directly as an actual value to an electronic control circuit for the braking force. However, in particular in the case of simultaneous interaction of a plurality of brake types, the braking force exerted by each individual brake cannot be measured directly, but only by a detour (Umweg) with corresponding inaccuracies, for example by recorded electrical power, by brake cylinder pressure or by material expansion. The physical relationship between the variable and the braking force is usually not linear and is also subject to systematic and random fluctuations.
A technical solution is known from DE 102011052545 a1, with which, in order to solve the above-mentioned problem, a value representing the longitudinal deceleration of the vehicle is used as an actual value in order to strive for a predetermined setpoint value for the longitudinal deceleration of the vehicle via a control loop. The effect of the braking in the form of deceleration on the vehicle plane is thus regulated. However, the adjustment does not provide a braking force that is effectively effective in practice. Furthermore, the regulation of the setpoint value for the longitudinal deceleration of the vehicle has the side effect that the possible deceleration, which is topology-dependent, is not used up in the uphill slope of the travel section, while the brake is used excessively in the downhill slope of the travel section.
To solve this problem, DE 102015110053 a1 proposes: in addition to the detection of the longitudinal deceleration acting on the vehicle, the slope output caused by an uphill or downhill slope of the travel section is also ascertained, so that the braking force is calculated on the basis of the longitudinal deceleration of the vehicle and the slope output.
The longitudinal deceleration of the vehicle is the kinematic deceleration along the longitudinal axis of the vehicle. The longitudinal vehicle axis is always parallel to the travel section, so that when switching to an uphill or downhill slope, the longitudinal vehicle axis is inclined with the travel section.
The slope-driven force is a force acting on the vehicle in the direction of travel when the travel section inclines from a plane (i.e., due to an uphill slope or a downhill slope). The vertically downward directed gravity of the vehicle in the earth's gravitational field can be regarded as the vector sum of the force from the slope and the normal force perpendicular to the vehicle, which is transmitted from the vehicle onto the traffic lane.
Using a deceleration sensor which together also statically measures the gravitational acceleration to ascertain the longitudinal deceleration of the vehicle has the advantage that an uphill or a downhill slope does not result in a change in the sensor signal, so that the influence of the uphill or downhill slope on the longitudinal deceleration of the vehicle is not taken into account. This means that deceleration of the vehicle occurring as a result of an uphill gradient (as it would also occur in the case of pure rolling) does not occur in the sensor signal. The sensor only measures the additional deceleration that occurs, for example, as a result of braking. If this is not the case, the deceleration is therefore ascertained and adjusted, for example, as a function of the vehicle speed, which results in an adjustment of the braking distance independently of an uphill slope. This means that the braking distance in the plane is as long as the braking distance in the uphill slope. This is undesirable, since the advance notice signal distance between the advance notice signal and the main signal is to be adapted to the uphill slope of the traffic lane on the basis of country-specific regulations. Furthermore, the vehicle will release the brake in an uphill slope and thus behave unnaturally. The use of a deceleration sensor for ascertaining the longitudinal deceleration of the vehicle in the range of the deceleration to be adjusted therefore leads to the desired behavior of the overall system in that the longitudinal acceleration of the vehicle occurring as a result of uphill and downhill slopes is not taken into account in the actual signal of the deceleration sensor.
In long train assemblies consisting of a plurality of individual cars, in the event of a change in the travel section on an uphill slope, a different interpretation of the braking force can occur in the deceleration sensor arranged centrally in any position in the train assembly, preferably in the lead vehicle, since the latter cars of the train assembly can still push or brake the train assembly. Since the local downhill changes that occur in particular in long train trains and in the infrastructure are not guaranteed: all cars of the train consist are at the same or only approximately the same downhill slope or uphill slope at each time. The longitudinal acceleration acting on the rail vehicle is derived from the downhill slope or the uphill slope on which each individual car is located. Each car may be in a different area when there is an uphill or downhill change.
The effect of a downhill change on the longitudinal deceleration of the train set will change, for example, when driving over a peak. The longitudinal deceleration causes deceleration in the uphill slope. At the apex, the car in which the guidance is taking place is in the downhill slope, which has no effect at all on the longitudinal deceleration of the train, which is accelerated the same way on a plane and in the following downhill slope, while the last car is still in the uphill slope. If the rail vehicle is braked during a downhill change with an activated deceleration regulator, an error between the measured value and the actually desired downhill or uphill compensated deceleration is obtained when measuring the longitudinal deceleration by means of an acceleration sensor at a central location of the train. The error may cause a significant braking distance extension of the train.
Disclosure of Invention
The object of the invention is to provide a method and a device for the distributed measured value detection of deceleration control, in particular of rail vehicles, which ensure precise braking in a train consist consisting of a plurality of cars.
This object is achieved on the basis of a method according to the preamble of claim 1 in combination with the features of the characterizing portion. A computer program product associated therewith is given in claim 9. The object is achieved in terms of apparatus by claim 4. The dependent claims which refer back thereto in each case describe advantageous further developments of the invention.
The invention includes the technical teaching that the longitudinal deceleration is measured by a plurality of deceleration sensors which are positioned in at least two different cars along the train set and which are used to ascertain the respective local longitudinal deceleration, wherein the longitudinal deceleration associated with the entire train set is calculated as the actual value by a central measured value detection unit.
In other words, the actual value which is the basis for the deceleration adjustment is formed not only by a centrally arranged measuring source for the current deceleration of the rail vehicle, but also by a plurality of deceleration sensors which are arranged distributed along the rail vehicle. In this case, the actual values are formed from the individual distributively obtained measurement signals. Likewise, additional or supplementary calculation steps can be taken into account in the formation of the actual value, for example for verification purposes: for example, longitudinal inclinations of rail vehicles are ascertained or derived by calculation from measurement technology. Furthermore, it is also possible to verify the sensor signal for better recognition of errors. The higher the actual value formed, the more deceleration sensors are distributed along the rail vehicle, wherein the deceleration sensors of each car of the train consist form the maximum achievable accuracy. In order to achieve the advantages associated with the solution according to the invention, it is also conceivable to provide a deceleration sensor at least in the first and in the last car of the train set. The solution according to the invention is particularly suitable for long-track vehicles with a plurality of carriages on a driving route with a significant uphill change.
According to a further development of the invention, the deceleration sensors arranged distributed over the train set are connected via a data bus via a loop (durchleifen) through all the cars of the train set to a central measured value detection unit, which is preferably located in the foremost train section, for example in the lead vehicle. By using the databus, the number of activated deceleration sensors can be flexibly configured according to the number of coupled cars.
Drawings
Further measures which improve the invention are described in more detail below together with the description of preferred embodiments of the invention with the aid of the figures. In the figure:
figure 1 shows a schematic side view of a train consist travelling on an uphill road section,
fig. 2 shows a schematic side view of the train set according to fig. 1, with deceleration sensors according to a first embodiment arranged distributed along the length of the train,
fig. 3 shows a schematic side view of the train consist according to fig. 1 with deceleration sensors arranged distributed along the length of the train according to a second embodiment, and
fig. 4 shows a block diagram representation of a deceleration adjustment.
Detailed Description
Fig. 1 shows a train set in the form of a rail vehicle, which is composed of a plurality of cars 1a to 1 d. Each of the cars 1a to 1d is assigned a separate direction of travel by means of a vector arrow. Accordingly, the train consist is in uphill travel, wherein the car 1a of the foremost train part 2 has now reached the maximum height, the middle cars 1b and 1c are on an uphill stretch, and the car 1d forming the rearmost train part 3 is still at the start of an uphill stretch.
Fig. 2 shows a train set of cars 1a to 1d, which has integrated therein a device for ascertaining actual values relating to braking. In order to measure the longitudinal deceleration, a deceleration sensor 4a to 4d assigned to each of the cars 1a to 1d is provided. Each deceleration sensor 4a to 4d measures a longitudinal deceleration associated with the vehicle cabin, which may vary according to an uphill angle. The deceleration sensors 4a to 4d are connected via a data bus 5, which runs through all the cars 1a to 1d of the train set, by a loop to a central measured value detection unit 6, which is located in the foremost train part 2 in the central position.
According to fig. 3, in contrast to the exemplary embodiment described above, only one deceleration sensor 4a 'or 4b' is provided in each case in the first car 1a and in the last car 1d of the train set. Thus, the local longitudinal deceleration in the region of the foremost train part 2 and the rearmost train part 3 is ascertained. The measured value signals are also connected here via a loop to a central measured value detection unit 6 'via a data bus 5' running through all the cars 1a to 1d of the train consist.
According to fig. 4, the measured value detection unit 6 is equipped with a deceleration regulator 7 for carrying out deceleration-regulated braking of the train set, wherein the two component units are integrated in a regulating unit 8. The control unit 8 is arranged in the foremost train part 2 of the train set, not shown in detail here, preferably integrated in the electronic brake control.
Longitudinal deceleration a ascertained by a plurality of deceleration sensors, not shown in detail hereLaTo aLdFrom the input side to the central measured value detection unit 6, other measured values (for example, the measured value of the longitudinal inclination α L and the speed v of the rail vehicle) are also provided for verification or similar purposesZ) To the measured value detection unit 6. A deceleration controller 7 connected downstream for controlling the deceleration/deceleration force calculates the resulting control deviation from the actual value, which is ascertained by means of the measured value detection unit 6 using the measured variable, by comparing it with a predetermined target value of the desired braking deceleration and supplies the control deviation in the form of a control value as a control signal to a control element 9 of the brake, for example a pressure control valve for actuating a pneumatic brake cylinder.
The invention is not limited to the preferred embodiments described above. Rather, modifications are conceivable, which are also encompassed by the scope of protection of the following claims. Thus, for example, it is also possible to use other control elements than pneumatic brakes in the area of deceleration-controlled braking, for example, by means of which also electromotive brakes, eddy-current brakes or the like can be actuated.
List of reference numerals
1 compartment
2 foremost train part
3 rearmost train section
4 deceleration sensor
5 data bus
6 measured value detection unit
7 deceleration regulator
8 adjusting unit
9 adjusting link
aLLongitudinal deceleration
α L longitudinal inclination
vZSpeed of rotation
aSTheoretical value (for deceleration adjustment)
Claims (10)
1. Method for ascertaining actual values of a train set consisting of a plurality of cars (1a-1d), in particular of rail vehicles, which are associated with braking, for carrying out deceleration-regulated braking of the train set, in which method at least a longitudinal deceleration (a) is usedL) As an actual value, an adjustment value for compensating the adjustment deviation is determined by a deceleration regulator (7) from a predetermined setpoint value of the desired braking deceleration, said adjustment value being used for an adjustment element (9) of the brake,
it is characterized in that the preparation method is characterized in that,
-said longitudinal deceleration (a)L) -determining a deceleration of the train by means of a plurality of deceleration sensors (4a ', 4 b'; 4a-4d) for ascertaining a respective local longitudinal deceleration (a)La-d) Subsequently, subsequently
-calculating the longitudinal deceleration (a) associated with the entire train set by means of a central measured value detection unit (6)L) As the actual value.
2. The method of claim 1, wherein the first and second substrates are coated with a coating,
it is characterized in that the preparation method is characterized in that,
by means of a local longitudinal deceleration (a)La-e) Forming an average value to calculate said longitudinal deceleration (a) associated with the entire train setL)。
3. The method of claim 1, wherein the first and second substrates are coated with a coating,
it is characterized in that the preparation method is characterized in that,
the longitudinal inclination of the rail vehicle ascertained or derived from measurement is also taken into account when calculating the actual value relating to braking (α)L) And/or velocity (v)Z) The actual value is used for braking to adjust deceleration.
4. For ascertaining actual values of a train set consisting of a plurality of cars (1a-1d), in particular of a rail vehicle, which are associated with brakingFor carrying out deceleration-regulated braking of a train consist, said device at least reducing the longitudinal deceleration (a)L) Considered as an actual value, whereby the deceleration regulator (7) determines a predetermined setpoint value (a) for the desired braking decelerationS) Outputting an adjustment value for compensating the control deviation, said adjustment value being used in an adjustment element (9) of the brake,
it is characterized in that the preparation method is characterized in that,
for measuring said longitudinal deceleration (a)L) -providing a plurality of deceleration sensors (4a ', 4 b'; 4a-4d) for ascertaining a respective local longitudinal deceleration (a)La-d) Wherein, in the step (A),
-the central measured value detection unit (6) calculates the longitudinal deceleration (a) associated with the entire train setL) As the actual value.
5. The apparatus as set forth in claim 4,
it is characterized in that the preparation method is characterized in that,
at least one deceleration sensor (4a-4d) is arranged in each car (1a-1d) of the train set.
6. The apparatus as set forth in claim 4,
it is characterized in that the preparation method is characterized in that,
at least one deceleration sensor (4a ', 4b') is arranged in the first car (1a) and the last car (1d) of the train set.
7. The apparatus as set forth in claim 4,
it is characterized in that the preparation method is characterized in that,
the deceleration sensors (4a ', 4 b'; 4a-4d) are connected to a central measured value detection unit (6; 6') via a data bus (5; 5') which runs around all the cars (1a-1d) of the train set.
8. Train set, in particular rail vehicle, having a plurality of carriages (1a to 1d), having a device according to one of claims 4 or 7,
it is characterized in that the preparation method is characterized in that,
the measured value detection unit (6) and the deceleration regulator (7) are integrated in a regulating unit (8) which is arranged in the foremost train part (2).
9. Computer program product with program code sections for carrying out the method according to one of claims 1 to 3, when the computer program product is run on a measured value detection unit (6) and/or a deceleration regulator (7) of an electronic device according to one of claims 4 to 7.
10. Data carrier on which a computer program product according to claim 9 is stored.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017119991.8 | 2017-08-31 | ||
| DE102017119991.8A DE102017119991B4 (en) | 2017-08-31 | 2017-08-31 | Method and device for determining braking-relevant actual values of a rail vehicle for performing deceleration-controlled braking with distributed sensors |
| PCT/EP2018/072580 WO2019042830A1 (en) | 2017-08-31 | 2018-08-21 | Method and equipment for determining braking-relevant actual values of a rail vehicle for the performance of controlled-retardation braking with distributed sensors |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111051164A true CN111051164A (en) | 2020-04-21 |
| CN111051164B CN111051164B (en) | 2022-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880056114.4A Active CN111051164B (en) | 2017-08-31 | 2018-08-21 | Method and device for ascertaining actual values of a train set related to braking |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US12049204B2 (en) |
| EP (1) | EP3676139B1 (en) |
| JP (1) | JP6914426B2 (en) |
| CN (1) | CN111051164B (en) |
| DE (1) | DE102017119991B4 (en) |
| WO (1) | WO2019042830A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959463A (en) * | 2020-07-22 | 2020-11-20 | 眉山中车制动科技股份有限公司 | Goods train brake control system and method with participation of gradient |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572387B (en) * | 2020-12-10 | 2022-02-01 | 浙江吉利控股集团有限公司 | Brake control system of vehicle, vehicle and brake control method |
| CN113879355A (en) * | 2021-11-18 | 2022-01-04 | 中车青岛四方机车车辆股份有限公司 | Train braking control method and related components |
| CN115837899B (en) * | 2023-02-16 | 2023-05-16 | 华东交通大学 | Multi-model self-adaptive fault compensation control method and system for motor train unit braking system |
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Also Published As
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| WO2019042830A1 (en) | 2019-03-07 |
| JP6914426B2 (en) | 2021-08-04 |
| US20200207322A1 (en) | 2020-07-02 |
| JP2020531359A (en) | 2020-11-05 |
| DE102017119991B4 (en) | 2020-11-26 |
| EP3676139A1 (en) | 2020-07-08 |
| EP3676139B1 (en) | 2022-10-12 |
| US12049204B2 (en) | 2024-07-30 |
| CN111051164B (en) | 2022-05-31 |
| DE102017119991A1 (en) | 2019-02-28 |
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